#ifndef __USER__
#define __USER__

#include <boost/bind.hpp>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
#include <stdio.h>

#include "../lib/ControlLegUpdown.h"

using namespace gazebo;
class User : public WorldPlugin
{
  // Pointer to the world
  private: physics::WorldPtr world;

  // Pointer to the update event connection
  private: event::ConnectionPtr updateConnection;

  public: void Load(physics::WorldPtr _parent, sdf::ElementPtr /*_sdf*/);
  // Called by the world update start event
  public: void OnUpdate(const common::UpdateInfo & /*_info*/);

  /***********************LaymanYang***********************/
  ControlLegUpdown Jump;
  /********************************************************/
};

// Register this plugin with the simulator
GZ_REGISTER_WORLD_PLUGIN(User)

#endif
